guided-state-selector.hh

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// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
// This file is part of hpp-manipulation.
// hpp-manipulation is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-manipulation is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.

#ifndef HPP_MANIPULATION_GRAPH_GUIDED_STATE_SELECTOR_HH
# define HPP_MANIPULATION_GRAPH_GUIDED_STATE_SELECTOR_HH

#include "hpp/manipulation/fwd.hh"
#include "hpp/manipulation/graph/fwd.hh"
#include "hpp/manipulation/graph/state-selector.hh"

namespace hpp {
  namespace manipulation {
    namespace graph {
      class HPP_MANIPULATION_DLLAPI GuidedStateSelector : public StateSelector
      {
        public:
          static GuidedStateSelectorPtr_t create(const std::string& name,
              const core::RoadmapPtr_t& roadmap);

          void setStateList (const States_t& stateList);

          virtual EdgePtr_t chooseEdge(RoadmapNodePtr_t from) const;

          std::ostream& dotPrint (std::ostream& os, dot::DrawingAttributes da = dot::DrawingAttributes ()) const;

        protected:
          void init (const GuidedStateSelectorPtr_t& weak);

          GuidedStateSelector (const std::string& name,
              const core::RoadmapPtr_t roadmap) :
            StateSelector (name), roadmap_ (roadmap)
          {}

          std::ostream& print (std::ostream& os) const;

        private:
          States_t stateList_;

          core::RoadmapPtr_t roadmap_;

          GuidedStateSelectorWkPtr_t wkPtr_;
      }; // Class StateSelector
    } // namespace graph
  } // namespace manipulation
} // namespace hpp

#endif // HPP_MANIPULATION_GRAPH_GUIDED_STATE_SELECTOR_HH